KR101818195B1 - A Drone and A Drone Flight Object For Cleansing Comprising the Drone - Google Patents

Abstract

The present invention provides a drone flight vehicle for cleaning, capable of performing a cleaning work and a foreign substance removing work by approaching a structure such as a high-tension wire, a high-tension wire steel tower, an inner wall of a tunnel, an outer wall of a skyscraper, and a cleaning system including the same. According to the embodiment of the present invention, the drone flight vehicle for cleaning includes: multiple propellers generating down-stream to generate propulsion for flight; multiple propeller supporters including the propeller at each end; a main body fixed by being connected to the propeller supporter; multiple energy generating units arranged to correspond to the propeller by being separated from the multiple propellers to the lower side and generating energy by using the down-stream generated in the propeller; a power unit generating power by using a rotation force generated by the energy generating unit; an extending rod telescopically extended to the lower side of the main body and including an upper extending rod and a lower extending rod, which are co-axially connected to each other and vertically arranged, wherein the upper extending rod and the lower extending rod can independently rotate in an axial direction; at least a brush supporter extended from the circumference of the lower extending rod; and multiple cleaning tool units installed at an end of the brush supporter.

Description

[0001] The present invention relates to a drones and a cleaning drones,

The present invention relates to a drones body for cleaning an inner wall of a tunnel building or an outer wall of a building, a building exterior wall cleaning system having the same, and a dron used therefor. More specifically, in order to clean the outer wall of a high-rise building while regenerating energy using a downward flow of downward flow (hereinafter referred to as " downward flow " The present invention relates to a drones vehicle capable of flying with equipment and cleaning the outer wall of a building, a system for cleaning the outer wall of a building using the drones, and a dron used in the system.

With the development of architectural technology, modern buildings are becoming higher and larger, and buildings with irregular shapes with aesthetic elements are increasing rapidly. This tendency will continue in accordance with the tendency of the owner of the building, which considers the brand value and outlook of the high-rise buildings that make the city aesthetically glamorous. Such high-rise buildings are expected to increase the cost of maintenance as well as construction. However, maintenance and cleaning work on the exterior walls of buildings are still labor intensive due to their characteristics and dangerous works are being carried out by various workers. Currently, cleaning and maintenance works of glass windows of high-rise buildings in Korea are mostly performed using conventional rope and gondola, which causes frequent safety accidents and low productivity. Also, as the number of high-rise buildings increases, the safety accident rate for maintenance work on the exterior walls and windows of buildings increases every year, and a great deal of accidents are leading to deaths. According to the 2008 Industrial Accident Statistics of the Korea Occupational Safety and Health Agency, deaths due to fall in the entire construction industry accounted for 48.9% of the total deaths. At present, the development of a cleaning device for automatically cleaning the outer wall of a high-rise building is poor in Korea, and the related research is also limited. In general, the task of cleaning the exterior walls of a building, which is performed in Korea, is to clean the exterior walls by hanging on the rope fixed to the roof of the building. In particular, cleaning of the outer walls of high-rise buildings is carried out by a manpower directly mounted on the gondola platform connected to the upper part of the building.

However, aside from the safety problems of the cleaning workforce, the use of gondola may be limited due to the irregular shape and the aesthetic structure of the upper part of the building in the case of modern buildings constructed with design elements. In addition, there are various structures such as a window frame on the outer wall of the building, and it is not easy to completely automate the cleaning work due to such a structure. In addition, in order to clean the inner wall surface of the tunnel, an elevator is installed on the lower part of the tunnel to perform work while blocking the lane of the road, and the work must be performed at a considerable height. In addition, when the cleaning object is large and atypical, it is necessary to install an access facility for cleaning in order to carry out the cleaning of such a structure. And it was costly and time-consuming to remove the post-mortem again.

In order to solve such a conventional problem, there has been proposed a technique of performing a cleaning operation in the air using a drones. However, in cleaning the outer wall of a high-rise building, a steel tower, or a tunnel inner wall, This has been a problem of deteriorating the efficiency of the cleaning operation. In addition, there is a problem that when the cleaning tool using the drone comes into contact with the outer wall of the high-rise building or the inner wall of the tunnel, the drones are lost from the center of the building due to the reaction between the cleaning tool and the outer wall of the building.

The basic object of the present invention is to solve the problems of the prior art as described above. More particularly, it is an object of the present invention to provide a cleaning drones body capable of performing a cleaning operation or a foreign body removing operation by approaching a structure such as an outer wall of a high-rise building, a tunnel inner wall, a high- To provide a cleaning system.

Another object of the present invention is to regenerate energy by using a down ward flow, which is inevitably generated by a flight of a drone, so that a drone flight does not have to be frequently landed for battery replacement, The present invention provides a cleaning drones and a cleaning system having the cleaning drones that can improve the efficiency of the cleaning operation by extending the flight time of the drones until landing. It is another object of the present invention to provide a method of regenerating energy of a downward flow generated by a flight of a drone, And to provide a cleaning drones and a cleaning system equipped with the cleaning drones. It is a further object of the present invention to provide a dronemaster which is capable of quickly returning a dron to the outer wall of a building when the drones are pushed out of the outer wall of the building due to a reaction in contact with the outer wall of the building to be cleaned, And to improve the cleaning efficiency by making it possible to perform a cleaning operation by allowing the cleaning drones to access the cleaning drones and the cleaning drones. Another object of the present invention is to provide a cleaning drones which can limit the flying range by limiting the flight range of the flying object even if an error occurs in the control of the movement of the airplane, And to provide a cleaning system equipped with such a cleaning system.

Another object of the present invention is to minimize the influence of wind on a work site because it is possible to carry out cleaning while flying while the drones are fixed on a wall with a fixed suction plate during flight, And to provide a cleaning system equipped with the cleaning drones.

Another object of the present invention is to provide various brushes by rotating a portion of an extension rod provided with a plurality of cleaning tool portions extending to a predetermined position while maintaining the approach direction of the air vehicle with various types of brushes, And to provide a cleaning drones and a cleaning system having the cleaning drones which do not need to stop flying for replacement of brushes.

Another object of the present invention is to provide a cleaning drones which can prevent a water tube and an electrical wiring provided inside the extension rod from being twisted and interfered with each other by rotating only a part of the extension rod when the extension rod is rotated to use various brushes, A cleaning motor for driving the cleaning tool and a battery for separating the motor from the motor and the battery for flying the dron and disposed at a lower portion of the dron to improve the flying safety of the dron, And to provide a cleaning system equipped with the cleaning system.

The cleaning drones according to the embodiments of the present invention include a plurality of propeller supports each having a propeller at an end of each of a plurality of propellers for generating a downward flow to generate a thrust for flight, A plurality of energy regeneration units disposed below the propeller and corresponding to the propeller for regenerating energy using a downstream flow generated by the propeller, and a power generation unit for generating power by a rotational force generated by the energy regeneration unit, An extension rod extending telescopically to the underside of the body and coaxially connected to the upper extension rod and the lower extension rod, At least one brush support < RTI ID = 0.0 > and / or < / RTI & And a plurality of cleaning tool portions disposed at an end of the brush support. Here, the energy recovery unit may include a driven rotor rotated by a downward flow, a downward flow guide installed around the driven rotor to guide the driven rotor to the downward flow, And a downward flow guide groove through which the flow is discharged. Also, the downward flow guide groove variably controls the discharge direction of the discharged downward flow.

According to another aspect of the present invention, there is provided a cleaning drones for a cleaning drones, comprising: a fixed support extending from a circumferential surface of the extension rod; a position fixing means provided at one end of the fixed support; a gravity center control unit for controlling a center of gravity of the drones; And a distance sensor for sensing a distance between a structure and a structure to which a wadron flying object is aimed, wherein the center-of-gravity control unit includes a slide guide formed to extend radially outward from a circumferential surface of the extension rod, And the weight sensor detects the increase in the distance despite the fact that the cleaning drones fly in a direction approaching the structure, the weight weight is moved along the slide guide, Matches the intended approach direction And is moved radially outward of the extension rod. Further, the cleaning drones of the present invention further include a counterweight weight on the opposite side of the weight weight about the extension rod.

In addition, the cleaning drones of the present invention further include a cleaning tool drive case for accommodating an actuator and a battery for rotating the lower extension rod and the cleaning tool, The battery that drives the propeller is housed.

The cleaning drones according to the embodiment of the present invention may further include a propeller protection ring having a radius larger than a radius from the center of the main body to a rotation radius of the propeller and extending outside the propeller support, The brush support of the cleaning tool portion has a length such that the outer end of the cleaning tool portion protrudes further from the center of the extension rod to the outside of the protection ring in the outward direction of the reflection. Further, the cleaning drones according to the embodiment of the present invention may further include an image capturing unit installed in the main body, wherein the image capturing unit is disposed at a higher position than the cleaning tool unit.

According to another aspect of the present invention, there is provided a cleaning drones vehicle system including a cleaning drones vehicle, and a control unit for wirelessly communicating with the drones for cleaning the flying range ropes defining the flying range of the cleaning drones. Here, one end of the flying range-defining rope is connected to the lower end of the extension rod, and the other end of the flying range-defining rope is connected to the fixed body of the ground. In addition, the cleaning drones flight system according to the present invention includes a cleaning liquid supply pipe connected to the upper portion of the main body to supply the cleaning liquid to the main body of the cleaning drones, and a control unit for wireless communication with the cleaning drones.

According to another aspect of the present invention, there is provided a dron according to another aspect of the present invention, comprising: a plurality of propellers supporting a propeller at an end of each of a plurality of propellers for generating a downward flow to generate a thrust for flight; A plurality of energy regeneration units disposed below the propeller and corresponding to the propeller, the energy regeneration unit regenerating energy using a downflow generated from the propeller, and a power generation unit generating power by a rotational force generated by the energy regeneration unit And a power generation section.

According to the cleaning drones of the present invention and the cleaning system using the drones, the following effects can be achieved.

According to the cleaning drones flight system according to the present invention, it is possible to easily perform cleaning without installing a structure for cleaning, which is difficult to access easily. In addition, according to the cleaning drones flight system according to the present invention, since the drones are cleaned by using the drones, it is possible to stably swing in the air more than in the case of other airplanes, thereby enabling a stable cleaning operation.

In addition, according to the drones flight system according to the present invention, the flight time can be extended by regenerating the energy by using the downward flow for flight of the flight system to enhance the battery performance of the flight system, And controlling the discharge direction of the downward flow passing through the energy regeneration part in regenerating the energy by using the downward flow can improve the control performance of the flying direction of the airplane.

In addition, according to the drones system of the present invention, when a cleaning tool or the like of a flying body comes into contact with an outer wall of a building, the flying body is prevented from moving away from a building or the like due to a reaction force, It is possible to maintain the uniformity in the route of the flight to the outer wall of the building and to improve the cleaning efficiency. Further, according to the drone flight system according to the present invention, since it is possible to carry out cleaning while flying while being fixed to the wall by the position-fixed suction plate, it is possible to minimize the influence of wind on the work site, Lt; / RTI >

In addition, according to the drones system of the present invention, various types of brushes are provided, and a plurality of cleaning tool portions are extended to a predetermined position while rotating the extension rod while maintaining the flight direction of the airplane, And the angle of approach of the cleaning brush can be adjusted so that it is possible to clean the inclined area or the concave area.

According to the drone flight system of the present invention, the motor for watering the drone and the motor for driving the water tank and the cleaning tool are separated from each other at the upper and lower portions of the drone, The electrical wiring for operation is intertwined and interfered with each other, and the center of gravity of the drones can be lowered to enable a stable flight.

1 is a perspective view of a cleaning drones according to an embodiment of the present invention.
2 is a vertical sectional view of the cleaning drones of FIG. 1;
3 is a partial front sectional view illustrating the principle of operation of the energy recovery unit of the cleaning drones according to the embodiment of the present invention.
FIG. 4A is a block diagram of an internal configuration of a main body of a cleaning drone flight vehicle according to an embodiment of the present invention, and FIG. 4B is a block diagram of an internal configuration of a cleaning tool drive case.
5 is an explanatory view illustrating the principle of operation of the center-of-gravity control unit of the cleaning drones according to the embodiment of the present invention.
FIG. 6 is a conceptual diagram of a cleaning system for cleaning an exterior wall of a building using the cleaning drones of FIG. 1. FIG.
7 is a conceptual diagram of cleaning an outer wall of a building using a cleaning system according to another embodiment of the present invention
FIG. 8 is a conceptual diagram of cleaning the inner wall of a tunnel using a cleaning system according to another embodiment of the present invention.

FIG. 1 is a perspective view of a cleaning drones according to an embodiment of the present invention, and FIG. 2 is a vertical sectional view of the cleaning drones of FIG. 1, a cleaning drones according to an embodiment of the present invention includes a plurality of propellers 140 for generating a downward flow to generate a thrust for flight, a propeller 140 at each end A plurality of propeller supports 110 and a main body 120 connected to the propeller supports 110 by means of securing means 119.

A plurality of said propeller supports (110) extend radially outwardly in connection with said body (120). A plurality of the propeller supports 110 are equally spaced from the outer surface of the body so that the propeller support 110 receives uniform force to support the body 120. In FIG. 1, for example, four propeller supports 110 are shown fixed to the upper side of the main body 120 and extend radially outward at intervals of 90 degrees. However, the present invention is not limited thereto, And three or more propeller supports 110 may be provided to extend in the radially outward direction.

A propeller 140 is disposed at one end of the propeller support 110 to generate a downward flow toward the ground at the time of rotation to generate a thrust for flight of the air vehicle. The propeller 140 includes a plurality of propeller blades 142 and a propeller body 141 on which a rotary shaft of the propeller blade 142 is mounted. The propeller support 110 extends radially outwardly through the propeller body 141. The propeller body 141 is provided with a motor (not shown) for rotating the propeller blade 142. Alternatively, the motor may be disposed inside the body 120 of the drones rather than inside the propeller body 141, and may be connected to the propeller blade 142 by a power transmission device (not shown) to rotate the propeller blade 142 It is possible.

On the other hand, an energy regeneration unit 150 for regenerating and generating energy using a downward flow generated by the propeller 140 is provided on the lower side corresponding to each propeller 140. The propeller 140 and the energy regeneration unit 150 are arranged so as to correspond to each other in a vertical relationship so that the downward flow generated by the propeller blade 142 of the propeller 140 is aligned and arranged on the lower side of the propeller 140 And is then introduced into the energy recovery unit 150. The propeller 140 and the energy recovery unit 150 are spaced apart from each other by a predetermined distance in the vertical direction, thereby minimizing the loss of thrust in providing the propeller 140 with thrust to the airplane. The detailed configuration of the energy recovery unit 150 will be described later with reference to FIG.

On the other hand, a water tank 122 is provided below the main body 120 through a fixing rod 122b. The water tank part 122 is formed in a symmetrical shape, for example, a cylindrical shape for the center of gravity of the drones, and has a space filled with water. A water inlet 122a through which the water flows when the water tank is filled with water is provided above the water tank 122. Below the water tank 122, an extension rod 157 is provided which can be telescopically extended. The extension rod 157 can be telescopically extended, so that its axial length can be variable as needed. The extension rod 157 has a space in which a plurality of conduits and / or wires can be accommodated. The fixed rod 122b and the extension rod 157 are in the form of a hollow in which the interior thereof is emptied and a conduit and / or an electric wire extending from a component inside the main body 120, Through the central portion of the water tank portion 122 and into the extension rod 157. [0064] The extension rod 157 includes an upper extension rod 157a extending from the main body 120 and a lower extension rod 157b separated from the upper extension rod 157a and capable of independently rotating at a connection interface 157c, Respectively. The fixed rod 122b and the extended rod 157 may be formed in a cylindrical shape such that the center of gravity of the main body 120 is aligned with the center of the main body 120, And it is preferably aligned in the center of the side surface and extending downward.

The drone flight according to the embodiment of the present invention includes at least one brush support 131 extending from the circumferential surface of the lower extension rod 157b and a cleaning tool 132a disposed at an end of each brush support 131 , 132b, 132c, 132d, and 132f. In order to adjust the center of gravity of the drones during flight, it is preferable that the brush support 131 is disposed at a constant angle from the circumferential surface of the lower extension rod 157b. However, the present invention is not limited thereto, and may be arranged differently considering the weight of the cleaning tool portions 132a, 132b, 132c, 132d, and 132f disposed at the ends of the brush support table 131. [ A landing support 169 extends downward from the brush support 131 of each of the cleaning tools 132a, 132b, 132c, 132d, and 132f. Under the condition that the weight is symmetrical, the landing support 169 may not necessarily be installed on the brush support of all the cleaning tools, but may be disposed only on the brush support of the necessary cleaning tools.

Referring to FIGS. 1 and 2, the drones for cleaning according to the embodiment of the present invention further include a cushioning member 130 on the landing support 169. The buffer member 130 may be a spring or a hydraulic shock absorber. The impact applied to the main body when the drones fly on the ground due to the buffer member 130 is alleviated. The length of the brush support 131 is preferably constant, but can be set differently to match the center of gravity. In the cleaning drones according to the embodiment of the present invention, six brush supports 131 are connected to the circumferential surface of the lower extension rod 157b, and a cleaning tool is installed on each brush support 131. However, the number is not necessarily limited thereto, and various numbers of cleaning tools may be disposed in consideration of the center of gravity.

A battery (not shown), an actuator, or the like for an operation to rotate the lower extension rod 157b independently of the upper extension rod 157a or to drive the cleaning tools are provided below the lower extension rod 157b. (Not shown), and a cleaning tool drive case 159 for electrically connecting them to each other to receive wiring (not shown) or electrical contacts.

4A is a block diagram of the internal structure of the main body of the cleaning drones according to the embodiment of the present invention. FIG. 4B is a block diagram of the internal structure of the cleaning tool driving case. As shown in FIG. 4A, The main body 120 of the drone flight vehicle 100 is provided with a CPU 120a for controlling the movement of the drone in accordance with the wireless operation signal of the operator in connection with the flight of the drones, an actuator 120 for driving the propeller 140, A battery 120b, a generator 120c, a charger, and the like are accommodated. 4B, the cleaning tool drive case 159 includes a battery 159b and an actuator (for example, a stepping motor) for operation for selecting and driving the cleaning tool irrespective of the flight of the drones, (159a).

The CPU 120a in the main body 120 controls not only the flying motion of the drones but also the control of the cleaning tool of the drones, the control of the water injection amount in the water tank, and the like. The CPU 120a also controls the power generation unit 120c that generates electricity from the energy regenerated by the energy regeneration unit 150 and also controls the operation of charging the battery 120b with the generated electric energy.

1 and 2, the cleaning tool drive case 159 is connected to the lower portion of the extension rod 157 and is fixed in a suspended manner. Therefore, the weight of the battery and actuator housed in the cleaning tool drive case 159 is not included in the body 120 of the drone but is disposed at the lower portion of the entire drone, so that the center of gravity is dispersed to the lower portion of the drone. In addition, by installing a battery for the drones' flight and a battery for the operation of the cleaning tool, you can maximize the time the drones can fly in a single flight.

Meanwhile, a water tank part 122 for storing a cleaning liquid necessary for cleaning is disposed in the lower part of the main body 120. The water tank portion 122 is formed symmetrically with respect to the extending direction of the central axis of the cylindrical body 120. Therefore, it is preferable that the water tank 122 is donut shaped.

The cleaning drones according to the embodiment of the present invention are arranged such that the angle of the cleaning tool parts 132b and 132e is set between the brush support base 131 and the cleaning tool parts 132b and 132e disposed at the ends of the brush support base And further includes angular variable necks 133b and 133e that change the angle. The angular adjustable neck portion for varying the angle of the blue toothbrush tool portion can be mounted to a necessary cleaning tool portion among a plurality of cleaning tool portions. Here, the variable neck portions 133b and 133e can change the cleaning tool in the vertical direction as well as in the lateral direction. Further, the upper, lower, left, and right can be changed in a complex manner.

The lower extension rod 157b of the extension rod 157 is rotated with respect to the main body 120 about the axial direction in the direction of the connection interface 157c with respect to the upper extension rod 157a, Can be selected.

2, the cleaning drones according to the embodiment of the present invention have a radius R1 larger than the radius from the center of the main body 120 to the turning radius of the propeller 140, And a propeller protection ring 165 extending outwardly from the support frame. Preferably, the propeller protection ring 165 is formed in a circular shape as a whole of the drones. The propeller protection ring 165 prevents the propeller blade 142 of the propeller 140 from directly colliding with the external object, thereby protecting the propeller blade 142. Optionally, although not shown in the drawings, a protective ring may be provided for each blade 140 for each individual propeller 140. In this case, the protective ring provided for each propeller blade 142 is installed at a radius larger than the turning radius of the blade. 2, the length R2 of the cleaning tool portion 132a extending from the center of the extension rod 157 is set to be longer than the radius R1 of the propeller protection ring 165. As shown in FIG. Therefore, apart from the propeller 140 being protected, the cleaning tool portion 132a protrudes more than the protection radius of the propeller protection ring 165, so that it can contact the structure such as a building or object to be cleaned.

The cleaning tool portions 132a, 132b, 132c, 132d, 132e, and 132f have various shapes. Referring to FIG. 1, the cleaning tool portion 132a may have a planar shape for cleaning corners or corners. The cleaning tool portion 132a may be made of a flexible material to remove water. The cleaning tool part 132a is formed to be movable in correspondence with the shape of the corner or the corner so that the corner can clean the corner. For this purpose, the brush support 131 supporting the cleaning tool part 132a can be moved up and down left and right as the robot arm moves. The cleaning tool portions 132a, 132f may be in the form of a brush in which groups of small brushes are arranged concentrically. The cleaning tool parts 132a and 132e collect a plurality of brush brushes to form a single brush.

On the other hand, a water pipe 135a extends in the radially outward direction on the circumferential surface of the upper extension rod 157a of the extension rod 157, and a cleaning liquid injection nozzle 135b is disposed at one end of the water pipe. The washing liquid injection nozzle 135b is fluidly connected to the water tank portion 122 through a water flow conduit (not shown) inside the upper extension rod 157a. As described above, each of the cleaning tool parts can rotate about the axial direction of the extension rod 157 by rotation of the lower extension rod 157b. Apart from the washing liquid spraying nozzle 135b, an air spraying nozzle (not shown) may be provided if necessary. Air is sprayed through the air injection nozzle to remove foreign matter from a part to be cleaned.

Meanwhile, a distance sensor 172 for measuring a distance between objects to be cleaned is disposed on the side of the main body 120 of the cleaning drones. The cleaning drones 100 may further include an image capturing unit 174 installed in the main body 120 so that the image capturing unit 174 132b, 132c, 132d, 132e, and 132f are located higher than the cleaning tools 132a, 132b, 132c, 132d, 132e, and 132f. This is because when the image capturing unit is disposed at a lower position than the cleaning tool unit, the cleaning liquid comes into contact with the image capturing unit 174, or foreign substances generated in the cleaning process interfere with the capturing of the image capturing unit 174 by gravity It is because.

At this time, the cleaning liquid injection nozzle 135b is also disposed at a lower height than the image capturing unit 174. This is because, when the cleaning liquid injection nozzle 135b is disposed at a position higher than the image capturing unit 174, the cleaning liquid can interfere with the image capturing unit 174. The distance sensor 172 must be disposed at a higher position than the cleaning liquid injection nozzle and the cleaning tool unit to prevent foreign substances or cleaning liquid from being deposited on the sensor. On the other hand, a side of or a lower portion of the main body 120 is provided with a wireless transmitting / receiving unit (not shown) for wireless communication with a control unit, which is a remote controller for controlling the drones on the ground.

1 and 2, the cleaning drones according to the embodiment of the present invention includes a fixed support base 134a extending from the circumferential surface of the upper extension rod 157a, And a position fixing means 134b. Accordingly, when it is necessary to clean the drones while maintaining the drones in a predetermined position in the process of cleaning the drones, the position fixing means 134b may be fixed to the object to be fixed, thereby fixing the position of the drones. The position fixing means 134b may be provided with suction means for generating an attraction force. The length of the fixed support member 134a of the position fixing unit 134b is set to be longer than the length of the brush support member 131 of the cleaning tool unit in order to prevent the adsorption action of the position fixing unit 134b from interfering with the cleaning action of the cleaning tool unit, Lt; RTI ID = 0.0 > telescopically < / RTI > The position fixing means 134b also extends in a radially outward direction at the extension rod 157 at a larger radius than the propeller protection ring 165, like the cleaning tool.

Meanwhile, when the protruding portion of the drones, for example, the cleaning tool portions, comes into contact with the structure in the process of approaching the structure to be cleaned, such as the outer wall of the building, the drones are repelled by the repulsive force in the direction away from the structure . In addition, since the position fixing means 134b is repelled by the contact with the outer wall of the structure when the outer wall of the structure is approached to make an adsorption action on the outer wall of the building structure, There may be a case where the position fixing operation of the fixing portion 134b is disturbed. In this case, the drones can be inclined to lose the horizontal posture, and when the drones are inclined, the local area to be cleaned can not be precisely cleaned. In addition, there is a problem that the cleaning operation is delayed because the drone flight body is moved away from the structure. Therefore, even if the drones approach the local part of the structure to be cleaned and the cleaning tool or position fixing means of the drones are brought into contact with the structure, the drones are unintentionally repelled from the surface of the structure, You need to avoid.

To this end, the drones 100 according to the present invention are provided with a center-of-gravity control unit 170 as shown in FIGS. The center of gravity control unit 170 operates in conjunction with the distance sensor 172 to move the center of gravity of the drones to the surface of the structure when the drones hit the surface of the structure and then move away from the structure due to the repulsive force thereof The drones move toward the surface of the structure by self weight. The detailed configuration of the center-of-gravity control unit will be described later with reference to FIG.

3 is a view for explaining the operation principle of the energy regeneration unit 150 installed in the drones of FIG. 1 and FIG. The cleaning drones 100 according to the embodiment of the present invention are basically provided with a plurality of propellers 140 for flying the drones. Each of the propellers 140 rotates the propeller blade 142 to form a downward flow, and the drones 100 are lifted to the air due to the downward flow propulsion. Here, the drones according to the embodiment of the present invention reproduce energy by using a downward flow, which is a fluid emitted in the air in the ground direction, and use the reproduced energy to charge the battery of the drones.

Specifically, the energy regeneration unit 150 is arranged on the lower side of the propeller 140 so as to be aligned with the propeller 140 in correspondence with the positions of the respective propellers 140. The energy regeneration unit 150 is disposed at a position capable of receiving the downward flow generated by the corresponding propeller 140 and is disposed at a predetermined distance apart from the propeller 140 in the vertical direction. The energy regeneration unit 150 includes an energy regeneration unit support rod 150d extending radially outward from the main body 120. The energy regeneration unit support rod 150d is rotated by a downward flow A driven rotor 150b is installed. The driven rotor 150b is connected to the energy regenerator support rod 150d by the energy regenerator body 150a. In the energy regenerator body 150a, a power generator for generating electric power from the rotational motion of the driven rotor 150b may be provided. The power generator may be installed inside the main body 120.

Here, a downward flow guide 150c that collects the downward flow in a funnel-like manner to effectively rotate the driven rotor 150b by using the downward flow may be disposed so as to surround the driven rotor 150b. A downward flow guide groove 150e is provided at the center of the downward flow guide 150c to rotate the driven rotor 150b and discharge the downward flow discharged. The downward flow guide groove 150e can control the direction of the dragon flight by supplementally controlling the discharge direction of the downward flow discharged after rotating the driven rotor 150b. For this purpose, the downward flow direction of the downward flow guide groove 150e may have a variable shape that can be controlled by the CPU of the main body 120.

FIG. 5 is an explanatory view illustrating the operation principle of the center-of-gravity control unit 170 of the cleaning drones according to the embodiment of the present invention. As described above, apart from attempting to move horizontally using a propeller of a drone to move the drones back to the structure when the drones are contacted with structures such as building walls and then thrown back by the reaction, By changing the center of gravity toward the structure, it is possible to prevent the drones from moving toward the structure or from being thrown out of the structure.

For this purpose, the cleaning drones according to the embodiment of the present invention include a separate extension member extending in the radially outward direction from the circumferential surface of the upper extension rod 157a of the extension rod 157, for example, a water pipe 135a And a weight weight 171 provided on the lower side thereof with a slide guide 171b in parallel to the extending direction of the water tube and capable of moving along the slide guide 171b. On the other hand, a weight weight actuator 171a that allows the weight weight 171 to move on the slide guide 171b may be provided in the weight weight. The weight weight actuator is controlled by a CPU provided in the main body 120.

When the weight weight 171 is installed only on one side of the drones, the center of gravity of the entire drones is displaced to one side due to the weight of the weight. To prevent this, 157a on the opposite side of the weight weight. The position of the counter weight is not necessarily fixed. Therefore, the counterweight weight can also be controlled by the CPU and move along the slide guide, like the weight weight 171. [

The operation principle of the weight weights 171 will be described as follows. If the distance sensor 172 provided in the main body 120 senses that the distance between the structure and the drones is increased while the drones 100 are approaching the structure such as the outer wall of the building by the operation of the operator, 120a) judges that the drones are approaching the structure and then bounced by the reaction force in contact with the structure. In this case, the CPU 120a instructs the weight center 171 of the center-of-gravity control unit 170 to move in the direction from the neutral position toward the structure, so that the weight weight 171 moves along the slide guide 171b The entire center of gravity of the drones is biased toward the structure. In this case, as the center of gravity of the dragon flight body moves in the direction of the structure, the entire dragon flight body tilts toward the structure such as the outer wall of the building and moves in the direction toward the structure by its own weight. Therefore, it is possible to prevent the dragon flight body from being thrown out of the structure by a much faster response than to move the dragon flight body through the propeller of the dragon, and the dragon flight body can stably access the structure. The weight weight 171 moves along the slide guide 171b and moves to the neutral position after the drone flight body stably approaches the structure.

Meanwhile, FIG. 6 is a conceptual diagram of a cleaning system for cleaning an outer wall of a building using the cleaning drones of FIG. As shown in FIG. 6, the drone flight vehicle 100 is used to clean the outer wall W of the building B using the cleaning tool while flying. The cleaning dron system according to another aspect of the present invention includes the above-described cleaning drones 100 and includes a flight range limiting rope 194 that limits the flying range of the cleaning drones, (200). 2, one end of the flying range-defining rope 194 is connected to the lower end of the cleaning tool drive case 159, and the other end of the flying range- .

7 is a conceptual diagram of cleaning an outer wall of a building using a cleaning dron system according to another embodiment of the present invention. Another embodiment of the cleaning dron system according to another aspect of the present invention includes the cleaning liquid supply pipe 196 connected to the upper portion of the main body to supply the cleaning liquid to the main body of the cleaning drones, And a control unit (200) for wirelessly communicating with the cleaning drones. The cleaning liquid supply pipe 196 is connected to the external cleaning liquid supply means through the roller assembly 300 including the roller 302 to extend from the upper side of the cleaning object such as a building and reduce the frictional force with the wall of the building desirable. On the other hand, the extension rod is provided with an air conduit, and the air conduit extends to a portion adjacent to the cleaning liquid spraying means of the cleaning tool. Therefore, it is possible to perform cleaning on the cleaning part of a building or the like by spraying air simultaneously with the cleaning liquid or separately from the cleaning liquid. In this case, an air supply pipe (not shown) may be provided separately from the cleaning liquid supply pipe 196.

FIG. 8 is a conceptual diagram of cleaning the inner wall of a tunnel using a cleaning system according to another embodiment of the present invention. Referring to FIG. 8, the drone flight vehicle 100 is fixed to the vehicle C by the flight range-defining rope 194 'to fly through the tunnel T and clean the wall Tw of the tunnel. Optionally, the flight scope limited rope 194 'may serve as a conduit for transferring the water supplied from the vehicle C.

In the embodiment of the present invention, the above-described drones and systems using the same can be modified without departing from the spirit of the present invention. In other embodiments, a combination of the inventions described above or sub-combinations thereof may be made more useful. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense.

100: Drones 120: Body
140: Propeller 150: Energy regeneration unit
122: water tank part 157: extension rod
130: buffer member 170: center of gravity control

Claims (8)

A plurality of propellers for generating a downward flow to generate thrust for flight;
A plurality of propeller supports each having a propeller at each end;
A main body connected to and fixed to the propeller support;
A plurality of energy regenerators spaced downward from the plurality of propellers and corresponding to the propeller, the energy regenerators regenerating energy using a downflow generated from the propeller;
A power generator for generating power by a rotational force generated by the energy recovery unit;
An extension rod telescopically extending to the underside of the body, coaxially connected to the extension rod and disposed in an up-and-down relationship with each other and including an upper extension rod and a lower extension rod that are axially rotatable independently of each other;
At least one brush support extending from a circumferential surface of the lower extension rod; And
And a plurality of cleaning tools disposed at an end of the brush support,
Wherein the energy regenerating unit includes:
A driven rotor rotated by a downward flow;
A downward flow guide installed around the driven rotor to guide the downward flow to the driven rotor; And
And a downward flow guide guide installed in the downward flow guide and discharging a downward flow after rotating the driven rotor. delete The method according to claim 1,
Wherein the downward flow guide groove variably controls the discharge direction of the discharged downward flow. The method according to claim 1,
A fixed support extending from a circumferential surface of the extension rod,
And a position fixing means provided at one end of the fixed support. 5. The method of claim 4,
A center of gravity control unit for controlling the center of gravity of the drones;
And a distance sensor for sensing a distance between the drones and structures to which the drones are approaching,
The center-
A slide guide formed to extend radially outward from the circumferential surface of the extension rod, and
And a weight weight movable along the slide guide,
When the distance sensor senses that the distance is increased despite the fact that the cleaning drones fly in a direction approaching the structure, the weight weight is moved along the slide guide to match the intended approach direction of the drones And is moved radially outward of the extension rod 6. The method of claim 5,
Further comprising a counterweight weight on the opposite side of the weight weight about the extension rod. The method according to claim 1,
A cleaning tool drive case for accommodating an actuator and a battery for rotating the lower extension rod and driving the cleaning tool is further provided at a lower portion of the lower extension rod,
And a battery for driving the propeller is housed in the main body. A plurality of propellers for generating a downward flow to generate thrust for flight;
A plurality of propeller supports each having a propeller at each end;
A main body connected to and fixed to the propeller support;
A plurality of energy regenerators spaced downward from the plurality of propellers and corresponding to the propeller, the energy regenerators regenerating energy using a downflow generated from the propeller; And
And a power generator for generating power by a rotational force generated by the energy recovery unit,
Wherein the energy regenerating unit includes:
A driven rotor rotated by a downward flow;
A downward flow guide installed around the driven rotor to guide the downward flow to the driven rotor; And
And a downward flow guide groove provided in the down flow guide and discharging a down flow after rotating the driven rotor.

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